Systems and method for determining trench closure by a planter or seeder

ABSTRACT

An agricultural planting or seeding implement includes a frame, at least one row unit, one or more imaging devices, and a processor. The at least one row unit includes a seed trench opening assembly extending along an opening line and configured to open a seed trench, a seed deposition assembly configured to deposit a seed in the open seed trench, and a seed trench closing assembly extending along a closing line and configured to close the seed trench. The one or more imaging devices capture images of a field behind the agricultural planting implement as the agricultural planting implement traverses the field. The processor processes the images captured by the one or more imaging devices, including determining a location of the opening line based on the captured images, determining a location of the closing line based on the captured images, determining whether the opening line and the closing line are aligned with one another, and determining a corrective action to bring the opening line and the closing line into alignment in response to determining that the opening line and the closing line are not aligned with one another.

BACKGROUND

This disclosure relates generally to agricultural planters and seeders,and more specifically to determining trench closure by a planter.

In agricultural applications, seeds typically are planted in rows alongplanting lines in a field. To plant seeds, a planter or seeder isdirected across the field (e.g., towed behind a work vehicle, such as atractor). As the planter or seeder traverses the field, row units of theplanter or seeder open seed trenches, deposit seeds in the seedtrenches, and close the seed trenches. If a row unit is not properlyaligned (e.g., due to frame flex, side-hill slope, steeringdiscrepancies, hitch position, etc.), or if a row unit is not properlyconfigured (e.g. due to excessive down pressure, closing systempressure, closing system configuration, etc.), due to a componentfunctional failure (e.g. jammed opening disks, damaged firming point,etc.), or the operating speed exceeds acceptable limits for the currentfield conditions, then the row unit may not completely close the seedtrench, which could reduce the productivity and/or efficiency of theplanting operation, and/or reduce crop yield. For example, the seeds maynot grow as well in a seed trench that is left open or only partiallyclosed, as compared to a seed planted in a closed trench.

BRIEF DESCRIPTION

Certain embodiments commensurate in scope with the originally claimedsubject matter are summarized below. These embodiments are not intendedto limit the scope of the claimed subject matter, but rather theseembodiments are intended only to provide a brief summary of possibleforms of the disclosure. Indeed, the disclosure may encompass a varietyof forms that may be similar to or different from the embodiments setforth below.

In one embodiment, an agricultural planting or seeding implementincludes a frame, at least one row unit, one or more imaging devices,and a processor. The at least one row unit includes a seed trenchopening assembly extending along an opening line and configured to opena seed trench, a seed deposition assembly configured to deposit a seedin the open seed trench, and a seed trench closing assembly extendingalong a closing line and configured to close the seed trench. The one ormore imaging devices capture images of a field behind the agriculturalplanting implement as the agricultural planting implement traverses thefield. The processor analyzes the imaging data captured by the one ormore imaging devices, including determining a location of the openingline based on the captured images, determining a location of the closingline based on the captured images, determining whether the opening lineand the closing line are aligned with one another, and determining acorrective action to bring the opening line and the closing line intoalignment in response to determining that the opening line and theclosing line are not aligned with one another.

In another embodiment, an imaging system includes one or more imagingdevices and a processor. The one or more imaging devices are configuredto be coupled to a frame of an agricultural planting or seedingimplement, and to capture imaging data of a field behind theagricultural planting or seeding implement as the implement traversesthe field. The processor analyzes the images captured by the one or moreimaging devices, including determining a location of an opening linebased on the captured images, wherein the opening line is aligned with aseed trench opening assembly configured to open a seed trench,determining a location of a closing line based on the captured images,wherein the closing line is aligned with a seed trench closing assemblyconfigured to close the seed trench, determining whether the openingline and the closing line are aligned with one another, and determininga corrective action to bring the opening line and the closing line intoalignment in response to determining that the opening line and theclosing line are not aligned with one another.

In a further embodiment, a method includes directing an agriculturalplanting or seeding implement across a field, capturing one or moreimages of the field behind the agricultural planting or seedingimplement as the agricultural planting or seeding implement traversesthe field, via one or more imaging devices coupled to the agriculturalplanting or seeding implement, determining a location of an opening linebased on the captured images, determining a location of a closing linebased on the captured images, determining whether the opening line andthe closing line are aligned with one another, and determining acorrective action to bring the opening line and the closing line intoalignment in response to determining that the opening line and theclosing line are not aligned with one another. The agricultural plantingor seeding implement has at least one row unit, which includes a seedtrench opening assembly extending along the opening line and configuredto open a seed trench, a seed deposition assembly configured to deposita seed in the open seed trench, and a seed trench closing assemblyextending along the closing line and configured to close the seedtrench.

DRAWINGS

These and other features, aspects, and advantages of the presentdisclosure will become better understood when the following detaileddescription is read with reference to the accompanying drawings in whichlike characters represent like parts throughout the drawings, wherein:

FIG. 1 is a top view of an embodiment of an agricultural system;

FIG. 2 is a side view of an embodiment of the agricultural system ofFIG. 1;

FIG. 3 is a schematic view of an embodiment of a control system that maybe used within the agricultural system of FIG. 1;

FIG. 4 is a side view of an embodiment of a row unit that may be usedwithin the agricultural system of FIGS. 1-3;

FIG. 5 is an embodiment of an image captured by one or more imagingdevices of an imaging system of the control system of FIG. 3;

FIG. 6 is an embodiment of a processed image generated by the controlsystem of FIG. 3;

FIG. 7 is an embodiment of an image captured by the one or more imagingdevices of an agricultural operation utilizing strip tilling and offsetplanting;

FIG. 8 is an embodiment of an image captured by the imaging devices of aseed trench left open due to misalignment of the row unit;

FIG. 9 is the image captured by the imaging devices of the seed trenchshown in FIG. 8, with a severity score and a corrective line shown;

FIG. 10 is a rear view of the row unit completely closing the seedtrench and leaving behind a packed strip; and

FIG. 11 is a flow chart of an embodiment of a process for aligning a rowunit of the agricultural system of FIG. 1 to achieve complete seedtrench closure.

DETAILED DESCRIPTION

One or more specific embodiments of the present disclosure will bedescribed below. In an effort to provide a concise description of theseembodiments, all features of an actual implementation may not bedescribed in the specification. It should be appreciated that in thedevelopment of any such actual implementation, as in any engineering ordesign project, numerous implementation-specific decisions must be madeto achieve the developers' specific goals, such as compliance withsystem-related and business-related constraints, which may vary from oneimplementation to another. Moreover, it should be appreciated that sucha development effort might be complex and time consuming, but wouldnevertheless be a routine undertaking of design, fabrication, andmanufacture for those of ordinary skill having the benefit of thisdisclosure.

When introducing elements of various embodiments of the presentdisclosure, the articles “a,” “an,” “the,” and “said” are intended tomean that there are one or more of the elements. The terms “comprising,”“including,” and “having” are intended to be inclusive and mean thatthere may be additional elements other than the listed elements. Anyexamples of operating parameters and/or environmental conditions are notexclusive of other parameters/conditions of the disclosed embodiments.

FIG. 1 is a top view of an embodiment of an agricultural system 10. Theagricultural system 10 includes a work vehicle 12 (e.g., a tractor) andan agricultural implement 14 (e.g., a planter). In some embodiments, theagricultural implement 14 may be towed behind the work vehicle 12 (e.g.,as shown in FIG. 1). In other embodiments, the agricultural implement 14may be incorporated into the work vehicle 12. The work vehicle 12 may beany vehicle suitable for towing the agricultural implement 14, such as atractor, off-road vehicle, or the like. The work vehicle 12 may includea cab 16, in which an operator sits during operation of the work vehicle12. The agricultural implement 14 may be coupled to the work vehicle 12via a hitch 18. In one embodiment, the hitch 18 may be a three-pointhitch that rigidly couples the implement 14 to the work vehicle 12, suchthat the agricultural implement 14 can move upward and downward, butcannot freely rotate with respect to the work vehicle 12. In anotherembodiment, the agricultural implement 14 may be coupled to the workvehicle 12 via a drawbar, enabling the agricultural implement to move 14upward, downward, and rotate with respect to the work vehicle 12. Inanother embodiment, the implement 14 may be coupled to the work vehicle12 via a steerable hitch, enabling the implement to move upward,downward, and be actuated to rotate or slide laterally with respect tothe work vehicle 12. It should be understood, however that other systemsfor coupling the agricultural implement 14 to the work vehicle 12 may beused. In the illustrated embodiment, the agricultural implement 14 isattached to the work vehicle 12 via a tool bar 20 and the hitch 18. Theagricultural system 10 travels over a field 22. The work vehicle 12 isconfigured to tow the agricultural implement 14 in a direction of travel24. For reference, a forward direction should be understood to be in thedirection of travel 24 and a rearward direction should be understood tobe opposite the direction of travel 24. As the agricultural system 10traverses the field 22, each row unit 32 opens a seed trench, plantsseeds along a planting line 26, and then closes the seed trench.

As shown, the planting lines 26 extend across the field 22. Though theplanting lines 26 extend substantially parallel to one another,embodiments in which the planting lines 26 are not parallel to oneanother may also be employed. In some embodiments, maps of the strips 28and/or planting lines 26 may be utilized to guide the work vehicle 12and the agricultural implement 14 across the field 22. In theillustrated embodiment, each planting line 26 extends along the centerof a respective strip 28, however, in other embodiments, one or moreplanting lines may be biased toward one side of the respective strip(s)28. As the agricultural implement 14 traverses the field 22, the rowunits 32 engage the soil to perform various tasks (e.g., open the seedtrench, plant seeds, close the seed trench, pack soil onto the plantedseeds, etc.). As shown, the row units 32 engage the soil along theplanting lines 26, which may or may not extend through the center of thestrips 26. One or more imaging devices 34 (e.g., cameras or LIDARsensors) may be disposed on the agricultural implement 14 and/or thework vehicle 12 and configured to generate imaging data of the field 22,and in some cases, a portion of the agricultural implement 14. Theseimages may be used to determine whether one or more of the seed trenchesare being sufficiently closed by the respective row unit(s).

FIG. 2 is a side view of the agricultural system of FIG. 1. Asillustrated, each row unit of the agricultural implement 14, in thiscase a planter, includes an opening assembly 36, a seed depositionassembly 38, a closing assembly 40, and a packing assembly 42. However,other embodiments may omit one or more of these assemblies, includeadditional assemblies, or have different combinations of assemblies. Asthe work vehicle 12 tows the planter 14 across the field 22, the openingassembly 36 of each row unit 32 opens a seed trench, the seed depositionassembly 38 of each row unit 32 plants one or more seeds in the openseed trench, the closing assembly 40 of each row unit 32 closes the seedtrench, and the packing assembly 42 packs soil on top of the seeds. Insome embodiments, the closing assembly 40 may be omitted and the packingassembly 42 may be used to close and pack the seed trench. In otherembodiments, the packing assembly 42 may be omitted. However, if anopening line (e.g., a line extending through the opening assembly) and aclosing line (e.g., a line extending through the closing assembly) ofthe row unit 32 are not aligned with one another, then the openingassembly 36 and the closing assembly 40 may not each be aligned with theone another, resulting in unclosed seed trenches. For example, whenfacing from the agricultural row unit 32 downward toward the field 22,if the opening assembly 36 is positioned to the left of the plantingline, the seed deposition assembly 38 is positioned directly above theseed planting line 26, and the closing assembly 40 is positioned to theright of the planting line 26, then the closing assembly 40 may notsufficiently close the seed trench because the opening assembly 36opened the seed trench to the left of the planting line 26, and theclosing assembly 40 is positioned to the right of the planting line 26,offset from the opening assembly 36. In such a configuration, the seedsplanted in seed trenches that are not fully closed may not grow as wellas seeds planted in fully closed seed trenches.

Accordingly, the one or more imaging devices 34 (e.g., cameras) may bedisposed on the agricultural implement 14, facing rearward, andconfigured to generate images of the field 22, and in some cases, aportion of the agricultural implement 14, such that a determination maybe made as to whether each seed trench has been closed. The imagingdevices 34 may be digital cameras, analog cameras, red-green-blue (RGB)cameras, red-green-blue with depth sensor (RGB-D) cameras, infrared (IR)cameras, multispectral cameras, other imaging devices, or somecombination thereof. The imaging devices 34 may be monocular or stereovision. In some embodiments, the imaging devices 34 may also includelaser scanners radar sensors, or other devices that may not generate atwo-dimensional image. For example, if the one or more imaging devices34 are laser scanners, the imaging devices 34 may generate aone-dimensional indication of a distance between the field 22 and theimplement 14 (e.g., row unit 32), a two-dimensional scan-line (e.g. ofthe seed trench cross-section), or a three-dimensional point-cloud. Forexample, a one-dimensional embodiment may make an alignmentdetermination based on single point feedback, a two-dimensionalembodiment may make an alignment determination based on a singlescan-line giving a distance, an azimuth and a reflection intensity, anda three-dimensional embodiment may make an alignment determination basedon a multiple scan-line point-cloud giving distance, an azimuth, and areflection intensity. The imaging devices 34 may be coupled to theagricultural implement (e.g., via an agricultural implement tool bar oron the one or more row units).

FIG. 3 is a schematic view of one embodiment of a control system 100that may be used within the agricultural system 10 shown in FIG. 1. Inthe illustrated embodiment, the control system 100 includes a vehiclecontrol system 102, an imaging system 104, a navigation system 106, avehicle speed system 108, a vehicle steering system 110, an agriculturalimplement control system 112, and an operator interface 114. However, itshould be understood that other embodiments of the control system 100may include different elements in alternative combinations.

The work vehicle control system 102 may include a processor 116, amemory component 118, and communication circuitry 120. The processor 116may include one or more general-purpose processors, one or moreapplication specific integrated circuits, one or more field programmablegate arrays, or the like. The memory 118 may be any tangible,non-transitory, computer readable medium that is capable of storinginstructions executable by the processor 116 and/or data that may beprocessed by the processor 116. The memory 118 may include volatilememory, such as random access memory, or non-volatile memory, such ashard disk drives, read-only memory, optical disks, flash memory, and thelike. The communication circuitry 120 may be configured to receiveinputs (e.g., feedback signals, sensor signals, etc.) and transmitoutputs (e.g., control signals, command signals, etc.) to/from theimaging system 104, the navigation system 106, the vehicle speed system108, the vehicle steering system 110, the agricultural implement controlsystem 112, and the operator interface 114.

As shown, the imaging system 104 may include a processor 122, a memorycomponent 124, and one or more imaging devices 34. The processor 122 mayinclude one or more general-purpose processors, one or more applicationspecific integrated circuits, one or more field programmable gatearrays, or the like. The processor 122 may control the imaging devices34 (e.g., control when images are taken). In some embodiments, theprocessor 122 may also be used to process and/or analyze data (e.g.,captured images) output by the imaging devices 34. The memory 124 may beany tangible, non-transitory, computer readable medium that is capableof storing data created by the imaging devices 34 (e.g., image files),and/or storing instructions executable by the processor 122 and/or datathat may be processed by the processor 122. The memory 124 may includevolatile memory, such as random access memory, or non-volatile memory,such as hard disk drives, read-only memory, optical disks, flash memory,and the like.

The navigation system 106 may be in communication with the vehiclecontrol system 102 (e.g., via the communication circuitry 120). Thenavigation system 106 may include a Global Navigation Satellite System(GNSS) receiver 126 configured to communicate with two or moresatellites in orbit (e.g., GPS, GLONASS, Galileo, BeiDou, etc.) todetermine the location, heading, speed, etc. of the work vehicle. Thereceiver 126 may include one or more processors 128, a memory component130, input/output 132, a power supply 134, and radio circuitry 136. Theprocessors 128 may execute software stored on the memory component 130to determine the position of the work vehicle. In some embodiments, thework vehicle position, heading, speed, etc. may be compared relative toa map or a planned path stored in memory 130. Based on the determinedposition, the processor 128 may also determine work vehicle heading,speed, etc. Based on the work vehicle information received from thenavigation system 106, the vehicle control system 102 may determine(e.g., via the processor 116) the relative proximity of the agriculturalsystem to one or more strips, one or more boundaries, one or moreheadlands, etc.

The vehicle speed system 108 may control the speed of the work vehiclein the direction of travel. Control of the speed may be by control of athrottle, control of a clutch, control of brakes, control of atransmission, control of one or more other systems, or a combinationthereof. In the illustrated embodiment, the speed control system 108includes an engine output control system 138, a transmission controlsystem 140, and a braking control system 142. The engine output controlsystem 138 is configured to vary the output of an engine to control thespeed of the work vehicle. For example, the engine output control system138 may vary a throttle setting of the engine, a fuel/air mixture of theengine, a timing of the engine, and/or other suitable engine parametersto control engine output. In addition, the transmission control system140 may adjust the gear ratio within a transmission to control the speedof the work vehicle. For example, the transmission control system 140may enable manual or automatic changing of gears or a gear ratio via thetransmission as a way to control the speed of the work vehicle. Thetransmission may include a number of fixed gear ratios or a continuouslyvariable gear ratio. Furthermore, the braking control system 142 mayadjust braking force, thereby controlling the speed of the work vehicle(e.g., slow the work vehicle down at the end of a row in order to make aturn). While the illustrated vehicle speed system 108 includes theengine output control system 138, the transmission control system 140,and the braking control system 142, alternative embodiments may includeany of these systems, in any suitable combination. Further embodimentsmay include a vehicle speed system having other and/or additionalsystems to facilitate adjusting the speed of the work vehicle. Thevehicle speed system 108 may be controlled by the operator in a manualmode of operation. In an automatic or semi-automatic mode of operation,the vehicle speed system 108 may be controlled automatically orsemi-automatically by the vehicle control system 102.

The vehicle steering system 110 may control the steering of the workvehicle. In the illustrated embodiment, the vehicle steering system 110includes a wheel angle control system 144, a differential braking system146, and a torque vectoring system 148. The wheel angle control system144 may automatically rotate one or more wheels or tracks of the workvehicle (e.g., via mechanical or hydraulic actuators) to steer the workvehicle along a path. By way of example, the wheel angle control system144 may rotate front wheels/tracks, rear wheels/tracks, and/orintermediate wheels/tracks of the work vehicle, either individually orin groups. In some embodiments, steering may be accomplished by varyingthe speed of wheels or tracks on either side of the work vehicle. Insome embodiments, the wheel angle control system 144 may behydraulically actuated rather than, or in addition to, mechanicallyactuated (e.g., via gears). A hydraulically actuated steering system 110may enable the work vehicle to turn without corresponding movement of asteering wheel (or other steering input device) inside the cab during anautomatic or semi-automatic drive mode. The differential braking system146 may independently vary the braking force on each side of the workvehicle to direct the work vehicle along the path. Similarly, the torquevectoring system 148 may differentially apply torque from the engine towheels and/or tracks on each side of the work vehicle, thereby directingthe work vehicle along the path. While the illustrated vehicle steeringsystem 110 includes the wheel angle control system 144, the differentialbraking system 146, and the torque vectoring system 148, alternativeembodiments may include any of these systems, in any suitablecombination. Further embodiments may include a vehicle steering systemhaving other and/or additional systems to facilitate directing the workvehicle along the path (e.g., an articulated steering system, etc.). Thevehicle steering system 110 may be controlled by the operator in amanual mode of operation. In an automatic or semi-automatic mode ofoperation, the vehicle steering system 110 may be controlledautomatically by the vehicle control system 102. For example, in asemi-automatic mode of operation, the steering system 110 may beautomatically controlled by the vehicle control system 102, and thespeed system 108 may be controlled by the operator. In a fully automaticmode of operation, both the speed system 108 and the steering system 110may be controlled by the control system 102.

The agricultural implement control system 112 may be used to control theagricultural implement. For example, the agricultural implement controlsystem 112 may turn the agricultural implement, raise or lower theagricultural implement, engage or disengage the agricultural implement,deploy ground-engaging tools of the agricultural implement, control thespeed of the agricultural implement, etc., or a combination thereof. Inthe illustrated embodiment, the agricultural implement control system112 includes an agricultural implement steering system 150, anagricultural implement engagement system 152, and an agriculturalimplement height system 154. The agricultural implement steering systemmay turn the agricultural implement (e.g., by actuating one or morewheels and/or tracks) based on signal received from the vehicle controlsystem 102. For example, if the imaging system 104 or the vehiclecontrol system 102 determines that the closing systems of theagricultural implement are not aligned with the seed trench, the controlsystem 102 may generate a control signal to the agricultural implementsteering system 150 to steer the agricultural implement to align the rowunits along the planting lines. In some embodiments, steering may beaccomplished by varying the speed of wheels or tracks on either side ofthe work implement. In some embodiments, the agricultural implementsteering system 150 may be hydraulically actuated rather than, or inaddition to, mechanically actuated (e.g., via gears). The agriculturalimplement engagement system 152 controls whether the agriculturalimplement is in a lowered working position or a raised transportposition. In some embodiments, for example, the agricultural implementmay be disengaged and/or retracted such that the work vehicle cantraverse a soft boundary (e.g., tall grass) or a portion of the fieldthat is not being cultivated. The agricultural implement height system154 may be used to control the height of the engaged agriculturalimplement relative to the ground (e.g., while the implement is in thelowered working position). While the illustrated agricultural implementcontrol system 112 includes the agricultural implement steering system150, the agricultural implement engagement system 152, and theagricultural implement height system 154, alternative embodiments mayinclude any of these systems, in any suitable combination. Furtherembodiments may include an agricultural implement control system havingother and/or additional systems to facilitate directing the implementalong the path (e.g., an articulated steering system, etc.). Theagricultural implement control system 112 may be controlled by theoperator in a manual mode of operation. In an automatic orsemi-automatic mode of operation, the agricultural implement controlsystem 112 may be controlled automatically by the vehicle control system102.

The operator interface 114 may be disposed inside the cab of the workvehicle and be configured to display information for, and receive inputsfrom, the operator. In the illustrated embodiment, the operatorinterface 114 includes a processor 156, a memory component 158,communication circuitry 160, a display 162, and operator inputs 164. Theprocessor 156 may include one or more general-purpose processors, one ormore application specific integrated circuits, one or more fieldprogrammable gate arrays, or the like. The memory 158 may be anytangible, non-transitory, computer readable medium that is capable ofstoring instructions executable by the processor 156 and/or data thatmay be processed by the processor 156. The memory 158 may includevolatile memory, such as random access memory, or non-volatile memory,such as hard disk drives, read-only memory, optical disks, flash memory,and the like. The communication circuitry 160 may be configured tocommunicate with the vehicle control system 102 (e.g., via thecommunication circuitry 120 of the vehicle control system 102). In someembodiments, the communication circuitry 120, 160 may communicate withvarious components in the system wirelessly. In some embodiments, theoperator interface 114 and the vehicle control system 102 may bedisposed within the same housing, may share processors 116, 156, memorycomponents 118, 158, and/or communication circuitry 120, 160. In furtherembodiments, the vehicle control system 102 and the operator interface114 may be the same component. The operator interface 114 includes thedisplay 162 configured to display information related to theagricultural system 10 to the operator. The display 162 may be a screen,an array of LEDs, a series of gauges, a combination thereof, or someother arrangement. The operator interface 114 also includes the operatorinputs 164 that enables a user to input information. The operator inputs164 may include a keyboard, a series of buttons, a joystick, a mouse, atrack pad, etc. In some embodiments, the display 162 and the operatorinput 164 may be a single component (e.g., a touchscreen).

As the work vehicle tows the agricultural implement through the field,the imaging system 104 captures data via the imaging devices 34, whichare mounted on the agricultural implement, facing rearward. Images maybe captured periodically, at set intervals, in response to triggeringevents (e.g., user depresses a button), or substantially continuously.The imaging system 104 and/or control system may process and analyze theimages to identify whether the closing assembly is effectively closingthe seed trench. In some embodiments, if the seed trench is not beingclosed, the control system 102 may automatically take corrective action,steering the work vehicle and/or the agricultural implement, and/oradjusting the position of the hitch to align the agricultural implement,or individual row units, with the planting lines. In other embodiments,if the seed trench is not being closed, the control system 102 mayadjust the configuration of the opening assembly, the gauge wheels,and/or the closing assembly on the row units. In other embodiments, anotification may be displayed on the display 162 of the operatorinterface 114. In response, the user may instruct the control system 102to take a suggested corrective action, or the user may manually controlthe vehicle steering system 110 and/or the agricultural implementcontrol system 112 to align the components of the row units of theagricultural implement with the planting lines. The control system 100may be disposed on the work vehicle, the agricultural implement (e.g.,on one or more row units), or both.

FIG. 4 is a side view of a row unit 32 that may be used within theagricultural implement 14 shown in FIGS. 1-3. The row unit 32 includes amount 200 that couples the row unit to the tool bar 20 of the implement14. A linkage assembly 202 extends from the mount 200 to a frame 204 ofthe row unit 32. The linkage assembly 202 is configured to enablevertical movement of the frame 204 relative to the tool bar 20 inresponse to variations in a soil surface 206. In certain embodiments, adown pressure system (e.g., including a hydraulic actuator, a pneumaticactuator, etc.) may be coupled to the linkage assembly 202 andconfigured to urge the frame 204 toward the soil surface 206. As thework vehicle tows the implement 14 across the field 22, the row unit 32is configured to deposit seeds and/or other agricultural products at adesired depth beneath the soil surface 206 as the row unit 32 traversesa field 22 along a direction of travel 24. The row unit 32 includes aresidue management assembly 208 that may include tillage points orfingers configured to break up crop residue on the soil surface 206. Therow unit 32 also includes the opening assembly 36 that forms a trench inthe soil for seed deposition into the soil. In the illustratedembodiment, the opening assembly 36 includes gauge wheels 210, arms 212that pivotally couple the gauge wheels 210 to the frame 204, and openerdiscs 214. The opener discs 214 are configured to excavate a trench intothe soil, and the gauge wheels 210 are configured to control apenetration depth of the opener discs 214 into the soil. In theillustrated embodiment, the row unit 32 includes a depth control system216 configured to control the vertical position of the gauge wheels 210(e.g., by blocking rotation of the arms 212 in the upward directionbeyond a selected orientation), thereby controlling the penetrationdepth of the opener discs 214 into the soil.

The row unit 32 also includes an agricultural product conveying system(e.g., seed planting assembly 38) configured to deposit seeds and/orother agricultural products (e.g., fertilizer) into the trench. Theopening assembly 36 and the seed planting assembly 38 are followed by aclosing assembly 40 that moves displaced soil back into the trench. Inthe illustrated embodiment, the closing assembly 40 consists of atwo-stage closing disc system 218 and the closing assembly 40 isfollowed by a packing assembly 42 configured to pack soil on top of thedeposited seeds and/or other agricultural products. The packing assembly42 consists of a press wheel 220, an arm 222 that pivotally couples thepress wheel 220 to the frame 204, and a biasing member 224 configured tourge the press wheel 220 toward the soil surface 206, thereby enablingthe press wheel 220 to pack soil on top of the deposited seeds and/orother agricultural products to ensure proper seed-to-soil contact.However, it should be appreciated that in alternative embodiments, theclosing assembly 40 may consist of other closing devices (e.g., V-presswheel, a single closing disc, etc.), additional biasing members toadjust horizontal and vertical spacing, or lateral position with respectto the direction of travel, or disk/wheel ground-contact angles, and incertain embodiments both the closing assembly and/or packing assemblymay be coupled into a single assembly or omitted. In some embodiments,the opening assembly 36, the planting assembly 38, the closing assembly40 and/or the packing assembly 42 may be automatically configured orreconfigured. While the illustrated biasing member 224 includes aspring, it should be appreciated that in alternative embodiments, thebiasing member may include another suitable biasing device, such as ahydraulic cylinder or a pneumatic cylinder or an electric linearactuator, among others.

The row unit 12 includes a seed meter assembly 226 configured to receiveagricultural product (e.g., seeds) from a hopper 228. In certainembodiments, the seed meter assembly 226 includes a disc having multipleopenings. An air pressure differential between opposite sides of thedisc induces the agricultural product (e.g., seeds) to be capturedwithin the openings. As the disc rotates, the agricultural product isconveyed toward the agricultural product conveying system. When theagricultural product (e.g., seed) is aligned with an inlet to theagricultural product conveying system, the air pressure on each side ofthe disc is substantially equalized (e.g., at the end of a vacuumpassage), thereby enabling the agricultural product (e.g., seed) toenter the agricultural product conveying system (e.g., seed tube orpowered agricultural product conveyor). The agricultural productconveying system then directs the agricultural product to the trench.While the illustrated embodiment includes a vacuum seed meter, it shouldbe appreciated that in alternative embodiments, other suitableseed/agricultural product meters may be utilized. As used herein,“vacuum” refers to an air pressure that is less than the ambientatmospheric air pressure, and not necessarily 0 pa.

If the trench opening assembly 36, the seed deposition assembly 38, andthe trench closing assembly 40 of the row unit are not aligned with oneanother (e.g., the trench opening assembly 36 is to one side of theplanting line 26 and the trench closing assembly 40 and/or the packingassembly 42 is to the other side of the planting line), the trenchclosing assembly 40 and/or the packing assembly 42 may not fully closethe seed trench. The imaging device 34, which may be disposed on theimplement 14 (e.g., on the planter tool bar 20 or the row unit 32)facing rearward, may capture imaging data of the soil surface 206 tofacilitate determination of whether the seed trench is being closedeffectively.

As is discussed in more detail below, the imaging system of the planter14 may utilize computer vision algorithms, such as feature detection,blob detection, ridge/valley detection, edge/corner detection, texturalanalysis, wavelet analysis, disparity maps (e.g., stereo imagery), or acombination thereof, to determine whether the seed trenches have beeneffectively closed. For example, an insufficiently closed seed trenchdue to a misaligned row unit 32 may result in a seam along an edge ofthe seed trench where the seed trench has not been completely closed.The seam may appear in the images captured by the imaging devices 34 asa rough valley extending through each image, detectable by the imagingsystem. In other embodiments, the packer assembly 40 may leave adistinctive tread pattern on the soil surface 206. The imaging systemmay be configured to process images captured by the imaging devices 34to recognize the tread of the packer wheel 220, and determine whetherthe tread is not present, not complete, and/or not aligned with theplanting line 26. In some embodiments, the imaging system may beconfigured to determine an offset distance or an angle of incidencebetween the opening line (e.g., a line along which the opener discs 214engage the soil surface) and the closing line (e.g., a ling along whichthe closing discs 218 and/or the packer wheel 220 engage the soilsurface), as well as one or more quantitative scores or qualitativeclassifications consisting of one or more parameters indicative of thequality of seed trench closure (e.g. roughness, consistency, trenchdepth, residue/aggregate presence, etc.). The imaging system may alsodetermine a suggested corrective action (e.g., steering the workvehicle, steering the implement 14, adjusting the hitch 18, etc.). Insome embodiments, the control system may automatically implement thecorrective action either a pre-programmed, or used-defined, orself-determined (e.g. machine learning) control regime or rule-set. Inother embodiments, the control system may notify the operator (e.g., viathe operator interface) of the seed trench closing failure. The controlsystem may suggest corrective action for the operator to implement, orrequest authorization by the user to implement corrective action.

FIG. 5 is an embodiment of an image captured by one of the imagingdevices. In the illustrated embodiment, the image does not include apart of the planter, but the position of each row unit relative to theimaging device may be stored in the memory of the imaging system and/orthe control system. In other embodiments, the imaging system maydetermine the position of each row unit based on features in the image.In the illustrated embodiment, the opening assembly, the seed depositionassembly, and the closing assembly are centered beneath the imagingdevice. As shown, the planting lines 26 extend through the center ofeach strip 28, separated from one another by a distance 300. In someembodiments, the location of the planting lines 26 may be determinedbased on the captured images, while in other embodiments, the locationof the planting lines 26 may be determined based on a map.

FIG. 6 is an embodiment of a processed image generated by the controlsystem. As part of the image processing, the control system may converta captured image (see, e.g., FIG. 5) to a gray-scale image. From there,the control system may identify strips 28 and untilled rows 30. Thecontrol system may then determine the center of the strip 28 (e.g., themidpoint of a line across the width of the strip 28) at multiplelocations along the length of the strip 28 within the image. The controlsystem may then fit a straight line through the centers at the variouslocations to determine a center line (e.g., the planting line 26) of thestrip 28. If the planting line 26 is offset from the center line of thestrip 28, then the control system determines the center line and thenuses an offset to determine the location of the planting line 26.Processing the images may utilize feature detection, textural analysis,frequency analysis (e.g., wavelet transform), disparity maps (e.g.,using infrared or stereo imagery), etc.

Though FIGS. 5 and 6 depict a field 22 utilizing strip tilling, the sametechniques may be used on fields 22 utilizing conventional tillingtechniques. For example, as the row unit traverses the field 22, the rowunit may close the seed trench and compress the soil used to close theseed trench, resulting in a row of flat soil. Using the techniquesdescribed above with regard to strip tilling, the imaging system mayrecognize the row of flat soil left by the packer wheel and determinerow unit alignment. Similarly, the control system may also detectfeatures indicative of seed trench closure or insufficient seed trenchclosure. In response to determining that the seed trench is not beingeffectively closed, the vehicle control system may take correctiveaction (e.g., steering the work vehicle, steering the agriculturalimplement, adjusting the hitch, etc.) in order to align the row units.In other embodiments, an indication may be displayed to the user,prompting the user to take corrective action or requesting authorizationto take corrective action.

FIG. 7 is an embodiment of an image captured by one of the imagingdevices of an agricultural operation utilizing strip tilling and offsetplanting. As with previous embodiments described above, strips 28 areseparated by rows of untilled land 30. However, rather than the plantinglines 26 (i.e., the lines along which seeds are planted) extendingthrough the center of respective strips 28, each planting line 26 isoff-set from a respective center line 350 of each strip 28 by a distance352. In such an embodiment, during tilling, the row units 32 may bealigned with the centerline 350, and then for planting, the row units 32may be aligned with the planting line 26 (i.e., offset from the centerline 350 by a distance 352).

FIG. 8 is an embodiment of an image captured by the imaging system of aseed trench that has been left open due to misalignment of the openingline 398 and the closing line 400. As shown, the opening line 398 (i.e.,the line over which the opening assembly passes) is offset from theclosing line 400 (i.e., the line over which the closing assemblypasses), resulting in a seam formed by an unclosed seed trench 402.Though the opening line 398 and the closing line 400 shown in FIG. 8 aresubstantially parallel to one another and offset from one another, insome embodiments, the opening line 398 may be incident to the closingline 400 at an angle. The location and orientation of the opening line398 may be determined by the imaging system based on the captured images(as described with regard to FIG. 5), or based on a map of the field.For example, the opening line 398 may be determined based on thepresence of an open trench or the seam from the unclosed seed trench402. The location of the closing line 400 may be determined based onfeatures in the captured images (e.g., a packing wheel tread, a ridgeformed by closing discs, a difference in soil texture or roughnessbetween each side of the seed trench), or based on a stored position ofthe one or more imaging devices relative to the row unit. For example,the imaging device may be disposed directly on top of the row unit, suchthat the closing line 400 passes through the center of the capturedimages. In other embodiments, a sufficiently close seed trench may beinterpreted as an indication that the opening line 398 and the closingline 400 are aligned with one another.

FIG. 9 is the image captured by the imaging system of the seed trench ofFIG. 8, with a severity score and corrective line 404 shown. Once thelocations of the opening line 398 and the closing line 400 have beendetermined, if the lines are misaligned, the control system maydetermine an offset between the lines 398, 400 and/or an angle ofincidence. In some embodiments, the control system also determines aseverity score indicative of the opening line 398 and the closing line400, and thus seed trench closure. In other embodiments, a qualitativeclassification may be used to communicate trench closure or opening line398 and closing line 400 alignment. The control system then develops thecorrective line 404 to bring the opening line 398 into alignment withthe closing line, or vice versa. In some embodiments, the control systemmay determine a corrective action (e.g., steering the work vehicle,steering the planter, adjusting the hitch, etc.) to direct the openingassembly, the closing assembly, or the packing assembly along thecorrective line 404, bringing the opening line 398 and the closing line400 into alignment. The agricultural system may automatically implementthe corrective action, request authorization from the operator toimplement the corrective action, or suggest that the user takes thecorrective action.

FIG. 10 is a rear view of the row unit 32 completely closing the seedtrench and leaving behind a packed strip 450. As shown, the packer wheel220 has a tread pattern. After the closing assembly 40 closes the seedtrench, the packer wheel 220 rolls along the planting line 26, over thetop of the closed seed trench, packing down soil on top of the seeds toform the packed strip 450. As shown, if the soil is soft enough and madeof small enough particles, the packer wheel 220 may leave a treadpattern on the packed strip 450. In some embodiments, the imaging systemmay recognize the tread pattern as an indication that the seed trenchhas been effectively closed, and thus, the opening line and the closingline are aligned with one another. In other embodiments, the controlsystem may compare the tread pattern in the captured images to a storedtread pattern, and recognize a difference between the tread pattern inthe captured images and the stored tread pattern as an indication of anopen or partially open trench. In other embodiments, the imaging systemmay recognize the absence of an open seed trench as an indication thatthe seed trench has been closed. It should be understood however, thatthe tread pattern shown in FIG. 10 is merely one possible tread patternof many possible tread patterns. Further, some embodiments may notinclude a packer wheel 220 or other element that packs down the closedtrench. As such, in some embodiments, the imaging system may recognizethe absence of an open trench (as opposed to the presence of a packedstrip 450 or a packer wheel 220 tread pattern marking) as an indicationthat the seed trench has been effectively closed.

FIG. 11 is a flow chart of an embodiment of a process 500 for aligningopening and closing assemblies of row units of the agriculturalimplement to achieve complete seed trench closure. In block 502, theplanter is directed across the field (e.g., towed by the work vehicle).As the planter traverses the field, images are captured (block 504) ofthe field behind the planter. The images may be captured by one or moreimaging devices, which may be disposed on the planter facing rearward.In block 506, the images are processed to determine locations of theopening lines and the closing lines. As discussed above, this processmay include analyzing the presence of and/or positions of variousfeatures within the captured images relative to one another.

In decision 508, a determination is made as to whether the opening andclosing assemblies of the row unit are aligned. Specifically, adetermination is made as to whether the opening line is aligned with theclosing line. For an implement having multiple row units traversing thefield along multiple planting lines, the control system may determinewhether a single row unit or a subset of the row units are aligned andextrapolate outward to all of the row units. In other embodiments, eachrow unit may have its own dedicated imaging device and a determinationof alignment may be made for each row unit. If the opening line isaligned with the closing line, the process 500 returns to block 504 andcaptures images. If the opening line is not aligned with the closingline, or if the seed trench is not being sufficiently closed, thecontrol system determines the offset distance and/or the incidence anglebetween the opening line and the closing line (block 510). At block 510,the severity score is also determined. The severity score is indicativeof the misalignment between the opening line and the closing line,and/or the closure of the seed trench. In other embodiments, aqualitative classification may be determined instead of a quantitativescore. In block 512, the control system determines the corrective lineand/or corresponding corrective action (steering the work vehicle,steering the planter, adjusting the hitch, etc.) to bring the openingline and the closing line into alignment. At block 514, the correctiveaction may be automatically implemented. Alternatively, in block 516,the corrective action may be suggested to the operator. In response, theoperator may authorize the control system to implement the correctiveaction, or the operator may manually implement the corrective action.The process then returns to block 504 and continues to capture images ofthe field.

For agricultural applications utilizing planter implements, being ableto confirm seed trench closure may increase the efficiency and cropyield. The disclosed techniques include one or more imaging devicescoupled to the planting implement and configured to capture images ofthe field as the planter traverses the field. The images may beprocessed to determine the locations of one or more opening lines (e.g.,lines extending through the seed trench opening assembly) and one ormore closing lines (e.g., lines extending through the seed trenchclosing assembly and/or the packing assembly), which may be indicativeof seed trench closure. If the row units are not aligned, a controlsystem may output instructions to bring the row unit or row units intoalignment, to adjust the hitch of the work vehicle, to display anindication to the user, or a combination thereof.

While only certain features of the disclosed subject matter have beenillustrated and described herein, many modifications and changes willoccur to those skilled in the art. It is, therefore, to be understoodthat the appended claims are intended to cover all such modificationsand changes as fall within the true spirit of the disclosure.

1. An agricultural planting or seeding implement, comprising: a frame;at least one row unit comprising: a seed trench opening assemblyextending along an opening line and configured to open a seed trench; aseed deposition assembly configured to deposit a seed in the open seedtrench; and a seed trench closing assembly extending along a closingline and configured to close the seed trench; one or more imagingdevices, wherein the one or more imaging devices are configured tocapture images of a field behind the agricultural planting implement asthe agricultural planting implement traverses the field; and a processorconfigured to process the images captured by the one or more imagingdevices, wherein processing the captured images comprises: determining alocation of the opening line based on the captured images, a knownlocation of the one or more imaging devices, or a combination thereof;determining a location of the closing line based on the captured images,the known location of the one or more imaging devices, or a combinationthereof; and determining whether the opening line and the closing lineare aligned with one another.
 2. The agricultural planting or seedingimplement of claim 1, wherein determining whether the opening line andthe closing line are aligned with one another comprises identifying thepresence of an open seed trench, identifying a packed strip, identifyinga set of tire tread markings, identifying a ridge created by the seedtrench closing assembly, or a combination thereof in the capturedimages.
 3. The agricultural planting or seeding implement of claim 1,wherein the processor is configured to determine an offset distancebetween the opening line and the closing line, an angle of incidencebetween the opening line and the closing line, or a combination thereof,in response to determining that the opening line and the closing lineare not aligned with one another.
 4. The agricultural planting orseeding implement of claim 1, wherein the processor is configured todetermine a quantitative score or a qualitative classificationindicative of a quality of seed trench closure in response todetermining that the opening line and the closing line are not alignedwith one another.
 5. The agricultural planting or seeding implement ofclaim 1, wherein processing the captured images comprises determining acorrective action to bring the opening line and the closing line intoalignment in response to determining that the opening line and theclosing line are not aligned with one another.
 6. The agriculturalplanting or seeding implement of claim 5, wherein determining thecorrective action to bring the opening line and the closing line intoalignment comprises determining a corrective line to bring the openingline and the closing line into alignment.
 7. The agricultural plantingor seeding implement of claim 5, wherein determining the correctiveaction to bring the opening line and the closing line into alignmentcomprises generating a control signal to steer the agricultural plantingimplement, to steer a work vehicle towing the agricultural planting orseeding implement, to adjust a position of a hitch, or a combinationthereof to bring the opening line and the closing line into alignment.8. The agricultural planting or seeding implement of claim 5, whereinthe processor is configured to generate a notification to be displayedto a user in response to determining that the opening line and theclosing line are not aligned with one another.
 9. An imaging system,comprising: one or more imaging devices configured to be coupled to aframe of an agricultural planting or seeding implement, and to captureimages of a field behind the agricultural planting or seeding implementas the agricultural planting or seeding implement traverses the field;and a processor configured to process the images captured by the one ormore imaging devices, wherein processing the captured images comprises:determining a location of an opening line based on the captured images,a known location of the one or more imaging devices, or a combinationthereof, wherein the opening line is aligned with a seed trench openingassembly configured to open a seed trench; determining a location of aclosing line based on the captured images, the known location of the oneor more imaging devices, or a combination thereof, wherein the closingline is aligned with a seed trench closing assembly configured to closethe seed trench; determining whether the opening line and the closingline are aligned with one another; and determining a corrective actionto bring the opening line and the closing line into alignment inresponse to determining that the opening line and the closing line arenot aligned with one another.
 10. The imaging system of claim 9, whereinthe one or more imaging devices comprise a digital still camera, adigital video camera, an analog camera, a red, green, blue (RGB) camera,a red, green, blue with depth sensor (RGB-D) camera, an infrared (IR)camera, a light detection and ranging (LIDAR) device, a radio detectionand ranging (RADAR) device, or a combination thereof.
 11. The imagingsystem of claim 9, wherein the one or more imaging devices comprise alaser scanner, a radar sensor, or a combination thereof.
 12. The imagingsystem of claim 9, wherein the processor is configured to determine anoffset distance between the opening line and the closing line, an angleof incidence between the opening line and the closing line, or acombination thereof, in response to determining that the opening lineand the closing line are not aligned with one another.
 13. The imagingsystem of claim 9, wherein the processor is configured to determine aquantitative score or a qualitative classification indicative of aquality of seed trench closure in response to determining that theopening line and the closing line are not aligned with one another. 14.The imaging system of claim 9, wherein determining the corrective actionto bring the opening line and the closing line into alignment comprisesdetermining a corrective line to bring the opening line and the closingline into alignment.
 15. The imaging system of claim 9, wherein theprocessor is configured to generate a notification to be displayed to auser in response to determining that the opening line and the closingline are not aligned with one another.
 16. A method, comprising:directing an agricultural planting or seeding implement across a field,wherein the agricultural planting or seeding implement comprises atleast one row unit comprising: a seed trench opening assembly extendingalong an opening line and configured to open a seed trench; a seeddeposition assembly configured to deposit a seed in the open seedtrench; and a seed trench closing assembly extending along a closingline and configured to close the seed trench; capturing one or moreimages of the field behind the agricultural planting or seedingimplement as the agricultural planting or seeding implement traversesthe field, via one or more imaging devices coupled to the agriculturalplanting or seeding implement; determining a location of the openingline based on the captured images, a known location of the one or moreimaging devices, or a combination thereof; determining a location of theclosing line based on the captured images, the known location of the oneor more imaging devices, or a combination thereof; determining whetherthe opening line and the closing line are aligned with one another; anddetermining a corrective action to bring the opening line and theclosing line into alignment in response to determining that the openingline and the closing line are not aligned with one another.
 17. Themethod of claim 16, comprising: determining an offset distance betweenthe opening line and the closing line, an angle of incidence between theopening line and the closing line, or a combination thereof in responseto determining that the opening line and the closing line are notaligned with one another; determining a quantitative score or aqualitative classification indicative of a quality of seed trenchclosure in response to determining that the opening line and the closingline are not aligned with one another; and determining a corrective lineto bring the opening line and the closing line into alignment inresponse to determining that the opening line and the closing line arenot aligned with one another.
 18. The method of claim 16, whereindetermining the corrective action to bring the opening line and theclosing line into alignment comprises generating a control signal tosteer the agricultural planting or seeding implement, to steer a workvehicle towing the agricultural planting or seeding implement, to adjusta position of a hitch, adjusting a configuration of the seed trenchopening assembly, adjusting a configuration of the seed trench closingassembly, or a combination thereof to bring the opening line and theclosing line into alignment.
 19. The method of claim 16, comprisinggenerating a notification to be displayed to a user in response todetermining that the opening line and the closing line are not alignedwith one another.
 20. The method of claim 17, wherein determiningwhether the opening line and the closing line are aligned with oneanother comprises identifying the presence of an open seed trench,identifying a packed strip, identifying a set of tire tread markings,identifying a ridge created by the seed trench closing assembly, or acombination thereof, in the captured images.